Modeling Of Rigid Body Contacts For Dynamic Simulation
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| Author | : Murilo G. Coutinho |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 402 |
| Release | : 2012-10-08 |
| Genre | : Computers |
| ISBN | : 1447144171 |
This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid-body systems. The text focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic-simulation engines. Each chapter examines numerous algorithms, describing their design and analysis in an accessible manner, without sacrificing depth of coverage or mathematical rigor. Features: examines the problem of computing an hierarchical representation of the geometric description of each simulated object, as well as the simulated world; discusses the use of discrete and continuous collision detection to handle thin or fast-moving objects; describes the computational techniques needed for determining all impulsive and contact forces between bodies with multiple simultaneous collisions and contacts; presents techniques that can be used to dynamically simulate articulated rigid bodies; concludes each chapter with exercises.
| Author | : Paulo Flores |
| Publisher | : Springer |
| Total Pages | : 177 |
| Release | : 2016-03-15 |
| Genre | : Technology & Engineering |
| ISBN | : 3319308971 |
This book analyzes several compliant contact force models within the context of multibody dynamics, while also revisiting the main issues associated with fundamental contact mechanics. In particular, it presents various contact force models, from linear to nonlinear, from purely elastic to dissipative, and describes their parameters. Addressing the different numerical methods and algorithms for contact problems in multibody systems, the book describes the gross motion of multibody systems by using a two-dimensional formulation based on the absolute coordinates and employs different contact models to represent contact-impact events. Results for selected planar multibody mechanical systems are presented and utilized to discuss the main assumptions and procedures adopted throughout this work. The material provided here indicates that the prediction of the dynamic behavior of mechanical systems involving contact-impact strongly depends on the choice of contact force model. In short, the book provides a comprehensive resource for the multibody dynamics community and beyond on modeling contact forces and the dynamics of mechanical systems undergoing contact-impact events.
| Author | : Roy Featherstone |
| Publisher | : Springer |
| Total Pages | : 276 |
| Release | : 2014-11-10 |
| Genre | : Education |
| ISBN | : 1489975608 |
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
| Author | : MartÃn Pucheta |
| Publisher | : Springer Nature |
| Total Pages | : 235 |
| Release | : 2021-10-13 |
| Genre | : Technology & Engineering |
| ISBN | : 3030887510 |
This book gathers the latest advances, innovations, and applications in the field of multibody and mechatronic systems. Topics addressed include the analysis and synthesis of mechanisms; modelling and simulation of multibody systems; railway and vehicle dynamics; mechatronic systems for energy harvesting; robot design and optimization; and mechatronic design. It gathers the second volume of the proceedings of the 7th International Symposium on Multibody Systems and Mechatronics (MuSMe), virtually held in Cordoba, Argentina, on October 12-15, 2021, within the framework of the FEIbIM Commission for Robotics and Mechanisms and IFToMM Technical Committees for Multibody Dynamics and for Robotics and Mechatronics.
| Author | : Murilo G. Coutinho |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 402 |
| Release | : 2012-10-09 |
| Genre | : Computers |
| ISBN | : 1447144163 |
This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid-body systems. The text focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic-simulation engines. Each chapter examines numerous algorithms, describing their design and analysis in an accessible manner, without sacrificing depth of coverage or mathematical rigor. Features: examines the problem of computing an hierarchical representation of the geometric description of each simulated object, as well as the simulated world; discusses the use of discrete and continuous collision detection to handle thin or fast-moving objects; describes the computational techniques needed for determining all impulsive and contact forces between bodies with multiple simultaneous collisions and contacts; presents techniques that can be used to dynamically simulate articulated rigid bodies; concludes each chapter with exercises.
| Author | : Friedrich Pfeiffer |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 274 |
| Release | : 2000-11-10 |
| Genre | : Computers |
| ISBN | : 9783211833308 |
The volume introduces basic concepts necessary for a modern treatment of inequality problems in finite degree of freedom dynamics. Tools from convex analysis, by now well established in non-smooth mechanics, are used to formulate the constitutive equations and impact laws. The lectures cover a broad area of non-smooth dynamics from primal and dual energy functions in variational and differential form to application problems as chimney dampers or vibration conveyors. This includes frictional oscillations with bifurcation scenarios as well as analogies to small displacement quasi-static problems. The course is on an advanced level, designed primarily for postgraduate students, but should also be of value for scientists working on dynamic complementarity problems.
| Author | : Murilo G. Coutinho |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 387 |
| Release | : 2013-03-09 |
| Genre | : Computers |
| ISBN | : 147573476X |
This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid body systems. It focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic simulation engines that can be used to generate convincing animations of physical events involving particles and rigid bodies. It can also be used to produce accurate simulations of mechanical systems, such as a robotic parts feeder. The book is intended for researchers in computer graphics, computer animation, computer-aided mechanical design and modeling software developers.
| Author | : J.J. Moreau |
| Publisher | : Springer |
| Total Pages | : 466 |
| Release | : 2014-05-04 |
| Genre | : Science |
| ISBN | : 370912624X |
| Author | : Jean-Claude Samin |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 219 |
| Release | : 2012-10-17 |
| Genre | : Technology & Engineering |
| ISBN | : 9400754035 |
This volume provides the international multibody dynamics community with an up-to-date view on the state of the art in this rapidly growing field of research which now plays a central role in the modeling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of industrial applications. This book contains selected contributions delivered at the ECCOMAS Thematic Conference on Multibody Dynamics, which was held in Brussels, Belgium and organized by the Université catholique de Louvain, from 4th to 7th July 2011. Each paper reflects the State-of-Art in the application of Multibody Dynamics to different areas of engineering. They are enlarged and revised versions of the communications, which were enhanced in terms of self-containment and tutorial quality by the authors. The result is a comprehensive text that constitutes a valuable reference for researchers and design engineers which helps to appraise the potential for the application of multibody dynamics methodologies to a wide range of areas of scientific and engineering relevance.
| Author | : Davide Brugali |
| Publisher | : Springer |
| Total Pages | : 606 |
| Release | : 2014-09-19 |
| Genre | : Computers |
| ISBN | : 3319119001 |
This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014. The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.
